Apply external force to the agent

[aliang8]

Hi,

I was wondering if anyone has pointers on how to apply an external force to an agent, specifically the HalfCheetah environment.

I read in the MuJoCo documents there is a xfrc_applied field that implements this. Is there a similar feature for BRAX environments? Thanks!

[aliang8]

Bumping this!

[btaba]

Hey @aliang8 , there isn't a similar feature in brax right now, but have you checked out MJX? We aim to have feature parity with MuJoCo using that physics engine (which is now also ported into brax via f0cf109)